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This paper introduces PA-LVIO, a real-time LiDAR-visual-inertial odometry and mapping system using pose-only bundle adjustment (PA) for efficient and accurate frame-to-frame constraint derivation. A marginalization-free, frame-to-map LiDAR measurement model is integrated to minimize odometry drift, alongside an IMU-centric online spatial-temporal calibration for precise LiDAR-camera alignment. Experiments across diverse datasets and platforms demonstrate PA-LVIO's competitive performance and real-time capability compared to state-of-the-art LVIO methods.
Achieve real-time, high-accuracy LiDAR-visual-inertial odometry by ditching marginalization for a pose-only bundle adjustment, outperforming existing methods on extensive datasets.
Real-time LiDAR-visual-inertial odometry and mapping is crucial for navigation and planning tasks in intelligent transportation systems. This study presents a pose-only bundle adjustment (PA) LiDAR-visual-inertial odometry (LVIO), named PA-LVIO, to meet the urgent need for real-time navigation and mapping. The proposed PA framework for LiDAR and visual measurements is highly accurate and efficient, and it can derive reliable frame-to-frame constraints within multiple frames. A marginalization-free and frame-to-map (F2M) LiDAR measurement model is integrated into the state estimator to eliminate odometry drifts. Meanwhile, an IMU-centric online spatial-temporal calibration is employed to obtain a pixel-wise LiDAR-camera alignment. With accurate estimated odometry and extrinsics, a high-quality and RGB-rendered point-cloud map can be built. Comprehensive experiments are conducted on both public and private datasets collected by wheeled robot, unmanned aerial vehicle (UAV), and handheld devices with 28 sequences and more than 50 km trajectories. Sufficient results demonstrate that the proposed PA-LVIO yields superior or comparable performance to state-of-the-art LVIO methods, in terms of the odometry accuracy and mapping quality. Besides, PA-LVIO can run in real-time on both the desktop PC and the onboard ARM computer.
